Siemens SINAMICS V90 Operating Instructions Manual page 158

Control functions
7.2 Basic positioner (EPOS)
External reference cam (signal REF) and encoder zero mark (p29240=1)
When telegram 111 is used, the digital input signal REF can be configured with the
PROFINET control word POS_STW2.2:
Control word
POS_STW2.2
When telegram 110 is used, the digital input signal REF can be configured with the
PROFINET control word POS_STW.2:
Control word
POS_STW.2
When telegrams 7 and 9 are used, the digital input signal REF can be configured with digital
inputs.
The referencing is triggered by control word STW1.11. After that, the servo motor
accelerates to the speed specified in p2605 to find the reference cam. The direction (CW or
CCW) for searching the reference cam is defined by p2604. When the reference cam is
reached (signal REF: 0→1), the servo motor decelerates to standstill. After that, the servo
motor accelerates again to the speed specified in p2608 and the running direction is
opposite to the direction defined by p2604. Then the signal REF should be switched off
(1→0). When the servo motor reaches the first zero mark, it starts to travel towards the
reference point defined in p2600 with the speed specified in p2611. When the servo motor
reaches the reference point (p2599), the signal REFOK is output. Set STW1.11 to 0 and the
referencing finishes successfully.
The whole process is shown in the diagram below:
158
Setting
1 Reference cam active.
0 Reference cam inactive.
Setting
1 Reference cam active.
0 Reference cam inactive.
Description
Description
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2017, A5E37208830-003